Place asparagus around chicken, turning to coat with pan juices. Roast 10 to 15 minutes until an instant-read thermometer inserted in thickest part of thigh, not touching bone, registers 170°F and asparagus are crisp-tender. Let stand 10 minutes before carving.

Skim fat off pan juices. Serve juices with the chicken and lemon wedges with the asparagus.